main.cpp

00001 #include "mbed.h"
00002 #include "LIS331.h"
00003 #include "ITG3200.h"
00004 #include "SDHCFileSystem.h"
00005 
00006 // Define binary expansions if needed
00007 //#define Ob(x)  ((unsigned)Ob_(0 ## x ## uL))
00008 //#define Ob_(x) (x & 1 | x >> 2 & 2 | x >> 4 & 4 | x >> 6 & 8 |        \
00009 //  x >> 8 & 16 | x >> 10 & 32 | x >> 12 & 64 | x >> 14 & 128)
00010 
00011 
00012 
00013 SDFileSystem sd(p5, p6, p7, p8, "sd");
00014 //Serial pc(USBTX, USBRX);
00015 LIS331 accel(p9, p10);
00016 ITG3200 gyro(p9, p10);
00017 Timer t;
00018 DigitalOut success_led(LED4);
00019 DigitalOut progress_led(LED3);
00020 
00021 int main() {
00022     success_led = 0;
00023     //pc.printf("Now starting LIS331/ITG-3200 acceptance test...\n\r");
00024     
00025     // Set Highest Gyro Bandwidth
00026     gyro.setLpBandwidth(LPFBW_256HZ);
00027     
00028     // Set 8g range on accel
00029     accel.setFullScaleRange8g();
00030     
00031     FILE *fp = fopen("/sd/data.txt", "w");
00032     if(fp == NULL) {
00033         error("Could not open file for write\n");
00034     }
00035     success_led = 1;    // file is open for writing!
00036     
00037         
00038     //pc.printf("Accel Address:%x\n\r",accel.getWhoAmI());
00039     //pc.printf("Gyro Address:%x\n\r",gyro.getWhoAmI());
00040     //pc.printf("Temp(C):%f\n\r",gyro.getTemperature());
00041     
00042     wait(0.9);
00043 
00044 
00045 
00046 
00047     t.start();  // Start our microsecond timer
00048     while (1) {
00049         progress_led = 1;
00050         //Arbitrary wait for printf clarity.
00051         //wait(0.1);
00052         fprintf(fp,"\n\r%f,", t.read());     // get current time in seconds
00053         fprintf(fp,"%f,%f,%f,", ((float)accel.getAccelX() / 16384.0), ((float)accel.getAccelY() / 16384.0), ((float)accel.getAccelZ() / 16384.0));
00054         fprintf(fp,"%f,%f,%f", (float)gyro.getGyroX() / 14.375, (float)gyro.getGyroY() / 14.375, (float)gyro.getGyroZ() / 14.375);
00055 
00056         // uncomment next line to enable output of mag values
00057         //fprintf(fp,"%f,%f,%f", (float)compass.getCompassX(), (float)compass.getCompassY(), (float)compass.getCompassZ());
00058         
00059         progress_led = 0;
00060         if (t.read() > 60) {    // quit after 60 seconds, change to however long you want to record for
00061             break;  // LED3 will remain off when done writing to card
00062         }
00063     }
00064     
00065     
00066 fclose(fp);     // Need to add Physical_Switch --> DigitalIn --> Int --> fclose()
00067 }